The mechanism contains a four bar linkage kinematic chain connected in parallel with a slider crank. The kinematic chain RRT´s joints are connected with the rocker and the coupler of the four bar linkage. By means of changing the geometrical lengths of the mechanism´s links, the coupler point M describe a range of coupler curves.
The movie was generated for the geometrical dimensions: l1 = 365 mm, l2 = 80 mm, l3 = 340 mm, l4 = 190 mm, l4´ = 220 mm, l5 = 325 mm, θ = 45°.